Bring back the gazebo plugins (#1063)

The models and meshes are not included. We will need
to find an alternate way to reintegrate these and use them.

* Add simulation/gz_msgs back, and build with Gradle.

* Add back in the frc simulation plugins for gazebo.

* Add a new shared library, halsim_gazebo.

This library will become the interface between the
HAL sim layer and gazebo.

* Preserve the first channel number used in created Encoders in the Sim MockData.

This allows us to use the DIO channel number to connect with simulated encoders.

* Have the HAL Simulator set the reverse direction on creation.

This enables a simulator to be aware of the direction.

* Add a drive_motor plugin.

This is a bit of a 'magic' motor, which allows us to build robot
models that drive in a more realistic fashion.  It does this
by apply forces directly to the chassis, rather than relying on
the complex motion dynamics of a driven wheel.

This in turn allows the model to reduce wheel friction,
reducing scrub, and allowing for a more natural driving experience.

simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp

@@ -0,0 +1,111 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "gyro.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(Gyro)
+
+void Gyro::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+  this->model = model;
+
+  // Parse SDF properties
+  link = model->GetLink(sdf->Get<std::string>("link"));
+  if (sdf->HasElement("topic")) {
+    topic = sdf->Get<std::string>("topic");
+  } else {
+    topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+  }
+
+  std::string axisString = sdf->Get<std::string>("axis");
+  if (axisString == "roll") axis = Roll;
+  if (axisString == "pitch") axis = Pitch;
+  if (axisString == "yaw") axis = Yaw;
+
+  if (sdf->HasElement("units")) {
+    radians = sdf->Get<std::string>("units") != "degrees";
+  } else {
+    radians = true;
+  }
+  zero = GetAngle();
+
+  gzmsg << "Initializing gyro: " << topic << " link=" << link->GetName()
+        << " axis=" << axis << " radians=" << radians << std::endl;
+
+  // Connect to Gazebo transport for messaging
+  std::string scoped_name =
+      model->GetWorld()->GetName() + "::" + model->GetScopedName();
+  boost::replace_all(scoped_name, "::", "/");
+  node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+  node->Init(scoped_name);
+  command_sub = node->Subscribe(topic + "/control", &Gyro::Callback, this);
+  pos_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/position");
+  vel_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/velocity");
+
+  // Connect to the world update event.
+  // This will trigger the Update function every Gazebo iteration
+  updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+      boost::bind(&Gyro::Update, this, _1));
+}
+
+void Gyro::Update(const gazebo::common::UpdateInfo& info) {
+  gazebo::msgs::Float64 pos_msg, vel_msg;
+  pos_msg.set_data(Limit(GetAngle() - zero));
+  pos_pub->Publish(pos_msg);
+  vel_msg.set_data(GetVelocity());
+  vel_pub->Publish(vel_msg);
+}
+
+void Gyro::Callback(const gazebo::msgs::ConstStringPtr& msg) {
+  std::string command = msg->data();
+  if (command == "reset") {
+    zero = GetAngle();
+  } else {
+    gzerr << "WARNING: Gyro got unknown command '" << command << "'."
+          << std::endl;
+  }
+}
+
+double Gyro::GetAngle() {
+  if (radians) {
+    return link->GetWorldCoGPose().rot.GetAsEuler()[axis];
+  } else {
+    return link->GetWorldCoGPose().rot.GetAsEuler()[axis] * (180.0 / M_PI);
+  }
+}
+
+double Gyro::GetVelocity() {
+  if (radians) {
+    return link->GetRelativeAngularVel()[axis];
+  } else {
+    return link->GetRelativeAngularVel()[axis] * (180.0 / M_PI);
+  }
+}
+
+double Gyro::Limit(double value) {
+  if (radians) {
+    while (true) {
+      if (value < -M_PI)
+        value += 2 * M_PI;
+      else if (value > M_PI)
+        value -= 2 * M_PI;
+      else
+        break;
+    }
+  } else {
+    while (true) {
+      if (value < -180)
+        value += 360;
+      else if (value > 180)
+        value -= 360;
+      else
+        break;
+    }
+  }
+  return value;
+}

simulation/frc_gazebo_plugins/src/gyro/headers/gyro.h

@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/// \brief The axis about which to measure rotation.
+typedef enum { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ } ROTATION;
+
+/**
+ * \brief Plugin for reading the speed and relative angle of a link.
+ *
+ * This plugin publishes the angle since last reset and the speed
+ * which a link is rotating about some axis to subtopics of the given
+ * topic every physics update. There is also a control topic that
+ * takes one command: "reset", which sets the current angle as zero.
+ *
+ * To add a gyro to your robot, add the following XML to your robot
+ * model:
+ *
+ *     <plugin name="my_gyro" filename="libgyro.so">
+ *       <link>Joint Name</link>
+ *       <topic>~/my/topic</topic>
+ *       <units>{degrees, radians}</units>
+ *     </plugin>
+ *
+ * - `link`: Name of the link this potentiometer is attached to.
+ * - `topic`: Optional. Used as the root for subtopics. `topic`/position
+ * (gazebo.msgs.Float64),
+ *            `topic`/velocity (gazebo.msgs.Float64), `topic`/control
+ * (gazebo.msgs.String)
+ * - `units`; Optional, defaults to radians.
+ */
+class Gyro : public gazebo::ModelPlugin {
+ public:
+  /// \brief Load the gyro and configures it according to the sdf.
+  void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+  /// \brief Sends out the gyro reading each timestep.
+  void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+  /// \brief Publish the angle on this topic.
+  std::string topic;
+
+  /// \brief Whether or not this gyro measures radians or degrees.
+  bool radians;
+
+  /// \brief The axis to measure rotation about.
+  ROTATION axis;
+
+  /// \brief The zero value of the gyro.
+  double zero;
+
+  /// \brief The link that this gyro measures
+  gazebo::physics::LinkPtr link;
+
+  /// \brief Callback for handling control data
+  void Callback(const gazebo::msgs::ConstStringPtr& msg);
+
+  /// \brief Gets the current angle, taking into account whether to
+  ///        return radians or degrees.
+  double GetAngle();
+
+  /// \brief Gets the current velocity, taking into account whether to
+  ///        return radians/second or degrees/second.
+  double GetVelocity();
+
+  /// \brief Limit the value to either [-180,180] or [-PI,PI]
+  ///       depending on whether or radians or degrees are being used.
+  double Limit(double value);
+
+  /// \brief The model to which this is attached.
+  gazebo::physics::ModelPtr model;
+
+  /// \brief Pointer to the world update function.
+  gazebo::event::ConnectionPtr updateConn;
+
+  /// \brief The node on which we're advertising.
+  gazebo::transport::NodePtr node;
+
+  /// \brief Subscriber handle.
+  gazebo::transport::SubscriberPtr command_sub;
+
+  /// \brief Publisher handles.
+  gazebo::transport::PublisherPtr pos_pub, vel_pub;
+};